The transport library combines ZeroMQ with Protobufs to create a fast
and efficient message passing system. Asynchronous message publication
and subscription is provided along with service calls and discovery.

Part of the ignition-robotics libraries:

Ignition is a set of simple libraries that provide useful
functionality to bootstrap robot applications. The included libraries
encapsulate all the essentials, such as common math data types,
console logging, 3D mesh management, and asynchronous message
passing. Grab the code, start developing, and easily access other
applications like the Gazebo robot simulator.
